HYBRID POSITIONING SYSTEM

• US 20120299702A1
• Filed: 05/26/2011
• Published: 11/29/2012
• Est. Priority Date: 05/26/2011
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edara, Thandava Krishna, Reiners, Eric Alan, Travis, Dexter Grant, Willis, Frank Arthur
• Application Number:
  US13/116,954
• Publication Number:
  US 20120299702A1
• Time in Patent Office: Days
• US Class Current: 340/8.1
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A system for determining a position of a machine within a job site comprises at least one position monitoring device configured to collect information indicative of a location of the machine and a processor, communicatively coupled to the at least one position monitoring device. The processor is configured to estimate a location of the machine based on the received information using a first positioning technique. The processor is also configured to determine a first error value associated with the estimated location of the machine and compare the first error value with a threshold error level. If the first error value exceeds the threshold error level, the processor is configured to receive second information indicative of the location of the machine and determine the location of the machine based on the received second information, wherein the location of the machine is determined using a second positioning technique.

Claims

1. A method for determining a position of a machine within a job site, comprising:

receiving first information indicative of a location of the machine;

estimating, by a processor coupled to the machine, a location of the machine based on the received first information using a first positioning technique;

determining, by the processor, a first error value associated with the estimated location of the machine;

comparing, by the processor, the first error value with a threshold error level;

if the first error value exceeds the threshold error level;

receiving second information indicative of the location of the machine; and

determining, by the processor, the location of the machine based on the received second information, wherein the location of the machine is determined using a second positioning technique.

2. The method of claim 1, wherein the information indicative of the location of the machine includes location information determined by a satellite-based positioning device associated with the machine.

3. The method of claim 1, wherein receiving the information indicative of the location of the machine includes receiving, from one or more sensors mounted on the machine, information indicative of the proximity of the machine to one or more objects located in the job site.

4. The method of claim 3, wherein estimating the location of the machine includes estimating the location of the machine based, at least in part, on a last known position of the machine and the information from the one or more sensors.

5. The method of claim 1, wherein first information indicative of the location of the machine includes current speed and heading information associated with the machine.

6. The method of claim 5, wherein the first positioning technique is a dead reckoning location technique, whereby the location of the machine is estimated based on a previously-stored location of the machine and the current speed and heading information associated with the machine.

7. The method of claim 1, wherein first information indicative of the location of the machine includes image information collected by one or more sensors on the machine.

8. The method of claim 7, wherein the image information is one or more of RF or optical image information collected from one or more of respective RF or optical image sensors.

9. The method of claim 7, wherein the first positioning technique includes a visual odometry technique and determining the location of the machine includes estimating the location of the machine based on an analysis of image information from sequential images.

10. The method of claim 1, wherein receiving second information indicative of the location of the machine includes:

identifying, based on the information indicative of the location of the machine, at least one landmark proximate the machine; and

selecting, by the processor, a map portion associated with the at least one identified landmark.

11. The method of claim 10, wherein the second positing technique includes a SLAM technique, comprising:

identifying a location of a plurality of landmarks shown in the selected map portion;

determining a distance and an orientation of the machine relative to each of the plurality of landmarks; and

determining the location of the machine based on the distance and orientation of the machine relative to each of the plurality of landmarks.

12. A method for determining a position of a machine in a job site, comprising:

receiving information indicative of a location of the machine;

estimating, by a processor coupled to the machine, a location of the machine based on the received information;

determining, by the processor, a first error value associated with the estimated location of the machine;

comparing, by the processor, the first error value with a threshold error level;

if the first error exceeds the threshold error level;

identifying, based on the information indicative of the location of the machine, at least one landmark proximate the machine;

selecting, by the processor, a map portion associated with the at least one identified landmark;

analyzing, by the processor, the selected map portion and the received information indicative of the location of the machine; and

determining the location of the machine based on the analysis.

13. The method of claim 12, further including:

if the first error does not exceed the threshold error level;

receiving second information indicative of a location of the machine;

determining, by the processor, the location of the machine based on the received second information;

estimating, by the processor, a second error in the determined location of the machine; and

comparing, by the processor, a current error with a threshold error level, the current error based at least in part on the first error and the second error.

14. The method of claim 12, wherein analyzing the selected map portion and the received information indicative of the location of the machine includes:

identifying a location of a plurality of landmarks shown in the selected map portion;

determining a distance and an orientation of the machine relative to each of the plurality of landmarks; and

determining the location of the machine based on the distance and orientation of the machine relative to each of the plurality of landmarks.

15. The method of claim 12, wherein receiving information indicative of a location of the machine includes monitoring at least one of latitude, longitude, and elevation information by a satellite-based global positioning transceiver associated with the machine.

16. A system for determining a position of a machine in a job site, comprising:

at least one position monitoring device configured to collect information indicative of a location of the machine;

a processor, communicatively coupled to the at least one position monitoring device and configured to;

estimate a location of the machine based on the received information using a first positioning technique;

determine a first error value associated with the estimated location of the machine;

compare the first error value with a threshold error level;

if the first error value exceeds the threshold error level;

receive second information indicative of the location of the machine; and

determine the location of the machine based on the received second information, wherein the location of the machine is determined using a second positioning technique.

17. The system of claim 16, wherein the at least one position monitoring device includes a satellite-based positioning module configured to determine latitude and longitude information associated with the machine.

18. The system of claim 16, wherein the at least one position monitoring device includes a wheel position sensor wherein the processor is further configured to:

estimate, based on data measured by the wheel position sensor, a distance traveled by the machine; and

estimate the location of the machine based, at least in part, on a last known position of the machine and the estimated distance traveled by the machine.

19. The system of claim 16, wherein the at least one position monitoring device includes an odometry module configured to estimate the location of the machine based on one or more of RF or optical image information collected from one or more of respective RF or optical image sensors.

20. The system of claim 16, wherein receiving second information indicative of the location of the machine includes:

identifying, based on the information indicative of the location of the machine, at least one landmark proximate the machine; and

selecting, by the processor, a map portion associated with the at least one identified landmark.

21. The system of claim 20, wherein the second positing technique includes a SLAM technique, wherein the processor is further configured to:

identify a location of a plurality of landmarks shown in the selected map portion;

determine a distance and an orientation of the machine relative to each of the plurality of landmarks; and

determine the location of the machine based on the distance and orientation of the machine relative to each of the plurality of landmarks.